Can we create goal in performance document without goal management

Content

Our requirement is for probation employee manager will directly create goal in performance document and they dont want to maintain a seperate goal plan for the same.

I created a anytime document in goal section enabled "Any specific content item" but when manager add the goal there is following error

You can't create the performance document because there are no goal plans associated with the worker for the evaluation period. (HRG-3120265)
Workers must have goal plans associated with them that have the same review period and document type as the performance document. Contact your manager or HR representative.

Kindly advice on the same.